Cartographer v2 or v3 w/ Input Shaper (USB/CAN)

Firmware

Cartographer v3 by default will come pre-flashed for CAN. You can switch between both USB and CAN modes via firmware with no hardware modification required.

You need to use both a bootloader, and firmware. When updating, it is currently only neccessary to flash the Firmware.

Firmware Build 4.0.0 is compatible with both lis2dw and ADXL345 based probes. and is available from the GitHub repository. If you have cloned the firmware down to your Pi, it is already available.

Bootloaders

Using the correct bootloader is essential for this the probe to work in the correct mode. The bootloader used is Katapult, this also allows for easy updating of your firmware.

Note: These files should only be written using DFU Mode or a ST-Link

To navigate to these on your Pi, they are located in the following directory - /cartographer-klipper/firmware/v2-v3/

Firmware	Type	Address	Baudrate	Note
Katapult_250k.bin	Bootloader (Katapult)	0x08000000	250K	This is the Katapult bootloader, do not flash this via Ka
Katapult_500k.bin	Bootloader (Katapult)	0x08000000	500K	This is the Katapult bootloader, do not flash this via Katapult.
Katapult_1m.bin	Bootloader (Katapult)	0x08000000	1M	This is the Katapult bootloader, do not flash this via Katapult.
Katapult_USB.bin	Bootloader (Katapult)	0x08000000	USB	This is the Katapult bootloader, do not flash this via Katapult.

Cartographer Firmware

The following firmware files must be flashed at 0x08002000 if using DFU mode, or written directly via Katapult. These will not work without a Bootloader.

To navigate to these on your Pi, they are located in the following directory - /cartographer-klipper/firmware/v2-v3/

Firmware	Type	Address	Baudrate	Note
Cartographer_CAN_250000_8kib_offset.bin	Firmware Pre Survey	0x08002000	250K	Firmware Build 4.0.0 - Compatible with ADXL & lis2dw Hybrid Probes.
Cartographer_CAN_500000_8kib_offset.bin	Firmware Pre Survey	0x08002000	500K	Firmware Build 4.0.0 - Compatible with ADXL & lis2dw Hybrid Probes.
Cartographer_CAN_1000000_8kib_offset.bin	Firmware Pre Survey	0x08002000	1M	Firmware Build 4.0.0 - Compatible with ADXL & lis2dw Hybrid Probes.
Cartographer_USB_4_0_0_8kib_offset.bin	Firmware Pre Survey	0x08002000	USB	Firmware Build 4.0.0 - Compatible with ADXL & lis2dw Hybrid Probes.
Survey_Cartographer_CAN_250000_8kib_offset.bin	Survey Firmware	0x08002000	250k	Cartographer Survey Firmware (uses scanner.py)
Survey_Cartographer_CAN_500000_8kib_offset.bin	Survey Firmware	0x08002000	500k	Cartographer Survey Firmware (uses scanner.py)
Survey_Cartographer_CAN_1000000_8kib_offset.bin	Survey Firmware	0x08002000	1M	Cartographer Survey Firmware (uses scanner.py)
Survey_Cartographer_USB_8kib_offset.bin	Survey Firmware	0x08002000	USB	Cartographer Survey Firmware (uses scanner.py)

Combined Firmwares

These firmware files contain both the Katapult Bootloader, and Cartographer Firmware. These WILL NOT work if they are flashed via Katapult mode, please either use STLink or DFU Mode. To navigate to these on your Pi, they are located in the following directory - /cartographer-klipper/firmware/v2-v3/combined-firmware

Firmware	Type	Address	Baudrate	Note
Full_Cartographer_CAN_1M_4_0_1.bin	Katapult Bootloader + Cartographer Firmware.	0x08000000	1M	Firmware Build 4.0.0 - Compatible with ADXL & lis2dw Hybrid Probes.
Full_Cartographer_USB_4_0_0.bin	Katapult Bootloader + Cartographer Firmware.	0x08000000	USB	Firmware Build 4.0.0 - Compatible with ADXL & lis2dw Hybrid Probes.